Three-dimensional mapping using a lidar-equipped spinning projectile

Abstract

A method for using a LIDAR-equipped projectile for three-dimensional mapping including sending a signal to a light source to cause the light source to emit a plurality of light pulses, the light source located on a spinning projectile proceeding along a predetermined path; receiving, at the spinning projectile, a plurality of reflected light pulses responsive to the plurality of light pulses reflecting off an object or a terrain portion; determining a distance of the object or the terrain portion from the light source; and generating a three-dimensional map of the object based on the determined distance of the object or the terrain portion from the light source.

1 . A method comprising:
 sending a signal to a light source to cause the light source to emit a plurality of light pulses, the light source located on a spinning projectile proceeding along a predetermined path;   receiving, at the spinning projectile, a plurality of reflected light pulses, the plurality of reflected light pulses responsive to the plurality of light pulses reflecting off an object or a terrain portion;   determining a distance of the object or the terrain portion from the light source; and   generating a three-dimensional map of the object or the terrain portion based on the determined distance of the object from the light source.   
     
     
         2 . The method of  claim 1 , comprising:
 receiving a gravity axis signal from the projectile; and   orienting the three-dimensional map based on the gravity axis signal.   
     
     
         3 . The method of  claim 1 , comprising:
 sending a signal to activate a beacon.   
     
     
         4 . The method of  claim 1 , comprising:
 receiving a GNSS signal; and   determine a location of the projectile based on the received GNSS signal.   
     
     
         5 . The method of  claim 1 , comprising:
 transmitting the three-dimensional map to a display.   
     
     
         6 . The method of  claim 1 , comprising transmitting a time at which at least one of the plurality of light pulses is emitted and a time at which at least one of the plurality of reflected light pulses is received, wherein the determining the distance of the object or the terrain portion from the light source is responsive to the transmitted time at which at least one of the plurality of light pulses is emitted and the time at which at least one of the plurality of reflected light pulses is received. 
     
     
         7 . A projectile comprising:
 a LIDAR scanner;   a LIDAR sensor; and   a control circuit to:
 emit a light pulse via the LIDAR scanner; 
 receive a reflected light pulse via the LIDAR sensor, wherein the reflected light pulse is responsive to the light pulse reflecting off an object or a terrain portion; 
 transmit a first time at which the light pulse is emitted; and 
 transmit a second time at which the reflected light pulse is received. 
   
     
     
         8 . The projectile of  claim 7 , comprising:
 determine a distance of the object from the LIDAR scanner; and   generate a three-dimensional map of the object or terrain portion.   
     
     
         9 . The projectile of  claim 7 , comprising:
 a gravity axis sensor;   wherein the control circuit transmits information regarding a direction of gravity.   
     
     
         10 . The projectile of  claim 7 , comprising:
 a beacon;   wherein the control circuit causes the beacon to emit a beacon signal to locate the projectile.   
     
     
         11 . The projectile of  claim 7 , comprising:
 a GNSS receiver;   wherein the control circuit causes the GNSS receiver to determine the location of the projectile.   
     
     
         12 . The projectile of  claim 7 , comprising:
 an RF transmitter;   wherein the control circuit causes the RF transmitter to transmit the first and second times.   
     
     
         13 . The projectile of  claim 7 , comprising:
 an airfoil to cause the projectile to spin during flight.   
     
     
         14 . The projectile of  claim 7 , wherein:
 the LIDAR scanner and LIDAR sensor are positioned on a longitudinal side of the projectile; and   the LIDAR scanner emits the light pulse perpendicular to a longitudinal axis of the projectile.   
     
     
         15 . A system comprising:
 a control circuit to:
 receive a signal from a light source installed on a projectile indicating a plurality of first times at which the light source emitted a plurality of light pulses; 
 receive a signal indicating a plurality of second times at which a plurality of reflected light pulses are received at the projectile, wherein the plurality of reflected light pulses are responsive to the plurality of light pulses reflecting off an object or a terrain portion; 
 determine a distance of the object or the terrain portion from the light source; and 
 generate a three-dimensional map of the object or the terrain portion. 
   
     
     
         16 . The system of  claim 15 , the control circuit to:
 receive a beacon signal from the projectile; and   locate the projectile based on the beacon signal.   
     
     
         17 . The system of  claim 15 , the control circuit to:
 receive information regarding a GNSS location from a projectile.   
     
     
         18 . The system of  claim 15 , the control circuit to:
 receive a gravity axis signal from a projectile; and   orient the three-dimensional map based on the gravity axis signal.   
     
     
         19 . The system of  claim 15 , the control circuit to:
 transmit an image of the three-dimensional map to a display.   
     
     
         20 . The system of  claim 19 , wherein transmitting the image is performed over a peer-to-peer communication link.